Much effort has been invested during the past decades in design of parafoils for a wide range of payloads and in development of means for their guidance. Existing parafoils are capable of autonomous navigation using the global positioning system and other onboard sensors. The purpose of this study is to explore the advantages of coordination among multiple autonomous parafoils. Each parafoil is able to navigate to the target on its own by following a real-time-generated reference trajectory. A new method for trajectory generation is presented and behaviour-based rules are developed that control the relative motion of the descending parafoils. The set of simple rules results in an emergent behaviour known as flocking. The coupling between trajectory following and flocking is studied in a multiagent simulation. The simulation uses a realistic six-degrees-of-freedom model of a heavy cargo parafoil. The obtained results demonstrate the possibility of flocking behaviour for guided parafoils. The flocking rules ensure safe separation between the vehicles headed for the same target and allow the parafoils to follow a reference trajectory as a group.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils


    Beteiligte:
    Rosich, A (Autor:in) / Gurfil, P (Autor:in)


    Erscheinungsdatum :

    01.06.2012


    Format / Umfang :

    30 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt






    In-Flight Trajectory Planning and Guidance for Autonomous Parafoils

    Rademacher, Branden J. / Lu, Ping / Strahan, Alan L. et al. | AIAA | 2009



    Robust Trajectory Planning for Autonomous Parafoils under Wind Uncertainty

    Luders, Brandon D. / Sugel, Ian / How, Jonathan P. | AIAA | 2013